I get that you do not need the camp for childcare. But I'd encourage you to keep trying. Can you stay with him for a while? I realize you have your other child to care for. It might help him and it might help you gauge how bad or good things are at camp.
I know many kids whose parents have been quick to pull them out of every camp situation they do not immediately take to. Over the years, this can escalate such that the kids have a feeling they can "ditch" camps and the parents are always nervous about it. I also know kids who refuse to go to camps unless they know many/the majority of kids, because they typically operate in small, known social groups (eg--small private schools). This can really become an issue for working parents in summer. I know kids differ, and summer can be hard for introverts, but I do think it's important to work on learning to adjust to new environments, because this skill will be called for again and again.
